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Vol: 59(73) No: 1 / June 2014 Robust Positioning Control of Pneumatic Muscle Actuator at Different Temperatures József Sárosi Technical Institute, University of Szeged, Faculty of Engineering, Moszkvai krt. 9, 6725 Szeged, Hungary, phone: (3662) 546-571, e-mail: sarosi@mk.u-szeged.hu, web: http://www.mk.u-szeged.hu/szte_profiles/9 Keywords: Pneumatic muscle actuator, robust control, sliding mode controller, LabVIEW, temperature effect, accurate positioning Abstract Pneumatic muscle actuator (PMA) or pneumatic artificial muscle (PAM) is the less well-known type of pneumatic actuators. It consists of a thin, flexible, tubular membrane with fibre reinforcement. When the membrane is pressurized the gas pushes against its inner surface and against the external fibre. Then the PAM expands radially and contracts axially with the result that the volume increases. The force and motion produced by PAM are linear and unidirectional. It differs from general pneumatic cylinder actuators as they have no inner moved parts and there is no sliding on the surfaces. Besides, they have small weight, simple construction and low cost. During action they reach high velocities, while the power/weight and the power/volume ratios reach high levels. Because of their highly nonlinear and time varying nature, PAMs are difficult to control thus robust control method is needed. In this paper a LabVIEW based sliding mode controller is developed to eliminate the effects of these drawbacks. The positioning error of a pneumatic muscle actuator at different temperatures is determined. The error of the experiments shows 0.01 mm. This paper is organized in four sections. After Introduction, Section II illustrates the steps to designing sliding mode controller. In this section the experimental rigs and LabVIEW programs are also shown. 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